CROSS-REFERENCE TO RELATED APPLICATIONS
BACKGROUND
I. Field of the Invention
[0001] This disclosure relates generally to systems, apparatus and methods for in-vehicle
navigation, and more particularly to integrating a navigation system of a mobile device
with sensors of a navigation system of a vehicle.
II. Background
[0002] Mobile users often want to use navigation to find various places while on-board a
vehicle. When navigating in area challenged to receive global position satellite (GPS)
signals or other global navigation satellite system (GNSS) signals, such as in urban
areas, both assistance data and on-device inertial sensors are used to supplement
or in place of GNSS signals alone. Often a mobile device computes one navigation solution
with its sensors and a vehicle will compute a separate solution with its sensors,
which may include on-vehicle inertial and/or odometer sensors. What is needed is a
way to unify and coordinate sensors of both the mobile device and the vehicle to provide
a single navigation solution with information from the combined mobile device and
vehicle sensors.
[0003] Attention is drawn to document
EP 2351 989 A1 which relates to a mobile transceiver device which includes a GPS receiver module
to receive GPS signals and calculate current positions. The current positions are
used in a navigation module. The mobile transceiver device includes one or more local
interface technologies, such as Bluetooth and USB. These local interface technologies
can be used to communicate with an automobile data system. In situations where there
is sporadic GPS coverage, the mobile transceiver device receives inputs from the automobile
data system, such as speed or velocity information, and heading information, such
as output from a compass, as available. These inputs are used in the navigation module
of the mobile transceiver device to navigate by dead reckoning until an updated position
fix based on received GPS signals can be calculated.
[0004] Further attention is drawn to document
US 2008/147321 A1 which relates to vehicle data generated by circuitry of a vehicle which is received
and functions of a personal navigation device, which are otherwise used to process
device navigational data that are generated by navigational circuitry in the personal
navigation device, are used to process the vehicle data to produce output navigational
information. User interface commands and navigational data are communicated between
a personal navigation device and a media head unit of a vehicle, the user interface
commands and navigational data being associated with a device user interface of the
device, and a vehicle navigation user interface at the media head unit displays navigational
information and receives user input for control the display of the navigational information
on the media head unit, the vehicle navigation user interface being coordinated with
the user interface commands and navigational data associated with the device user
interface.
BRIEF SUMMARY
[0005] In accordance with the present invention, a method as set forth in claim 1, and a
system as set forth in claim 9, is provided. Further embodiments are claimed in the
dependent claims.
BRIEF DESCRIPTION OF THE DRAWING
[0006] Embodiments of the invention will be described, by way of example only, with reference
to the drawings.
FIG. 1 illustrates a divide between navigation systems of a mobile device and a vehicle.
FIGS. 2 and 3 illustrate communicatively coupling a navigation system of a mobile
device and a navigation system of a vehicle, in accordance with some embodiments of
the present invention.
FIG. 4 shows a vehicle navigation system, in accordance with some embodiments of the
present invention.
FIG. 5 shows a mobile device with a navigation system, in accordance with some embodiments
of the present invention.
FIGS. 6 and 7 show a method 300 and system to combine in-vehicle and in-device sensors
to compute an improved navigation solution.
DETAILED DESCRIPTION
[0007] The detailed description set forth below in connection with the appended drawings
is intended as a description of various aspects of the present disclosure and is not
intended to represent the only aspects in which the present disclosure may be practiced.
Each aspect described in this disclosure is provided merely as an example or illustration
of the present disclosure, and should not necessarily be construed as preferred or
advantageous over other aspects. The detailed description includes specific details
for the purpose of providing a thorough understanding of the present disclosure. However,
it will be apparent to those skilled in the art that the present disclosure may be
practiced without these specific details. In some instances, well-known structures
and devices are shown in block diagram form in order to avoid obscuring the concepts
of the present disclosure. Acronyms and other descriptive terminology may be used
merely for convenience and clarity and are not intended to limit the scope of the
disclosure.
[0008] Position determination techniques described herein may be implemented in conjunction
with various wireless communication networks such as a wireless wide area network
(WWAN), a wireless local area network (WLAN), a wireless personal area network (WPAN),
and so on. The term "network" and "system" are often used interchangeably. A WWAN
may be a Code Division Multiple Access (CDMA) network, a Time Division Multiple Access
(TDMA) network, a Frequency Division Multiple Access (FDMA) network, an Orthogonal
Frequency Division Multiple Access (OFDMA) network, a Single-Carrier Frequency Division
Multiple Access (SC-FDMA) network, Long Term Evolution (LTE), and so on. A CDMA network
may implement one or more radio access technologies (RATs) such as cdma2000, Wideband-CDMA
(W-CDMA), and so on. Cdma2000 includes IS-95, IS-2000, and IS-856 standards. A TDMA
network may implement Global System for Mobile Communications (GSM), Digital Advanced
Mobile Phone System (D-AMPS), or some other RAT. GSM and W-CDMA are described in documents
from a consortium named "3rd Generation Partnership Project" (3GPP). Cdma2000 is described
in documents from a consortium named "3rd Generation Partnership Project 2" (3GPP2).
3GPP and 3GPP2 documents are publicly available. A WLAN may be an IEEE 802.11x network,
and a WPAN may be a Bluetooth network, an IEEE 802.15x, or some other type of network.
The techniques may also be implemented in conjunction with any combination of WWAN,
WLAN and/or WPAN.
[0009] A satellite positioning system (SPS) typically includes a system of transmitters
positioned to enable entities to determine their location on or above the Earth based,
at least in part, on signals received from the transmitters. Such a transmitter typically
transmits a signal marked with a repeating pseudo-random noise (PN) code of a set
number of chips and may be located on ground based control stations, user equipment
and/or space vehicles. In a particular example, such transmitters may be located on
Earth orbiting satellite vehicles (SVs). For example, a SV in a constellation of Global
Navigation Satellite System (GNSS) such as Global Positioning System (GPS), Galileo,
GLONASS or Compass may transmit a signal marked with a PN code that is distinguishable
from PN codes transmitted by other SVs in the constellation (e.g., using different
PN codes for each satellite as in GPS or using the same code on different frequencies
as in GLONASS). In accordance with certain aspects, the techniques presented herein
are not restricted to global systems (e.g., GNSS) for SPS. For example, the techniques
provided herein may be applied to or otherwise enabled for use in various regional
systems, such as, e.g., Quasi-Zenith Satellite System (QZSS) over Japan, Indian Regional
Navigational Satellite System (IRNSS) over India, Beidou over China, etc., and/or
various augmentation systems (e.g., an Satellite Based Augmentation System (SBAS))
that may be associated with or otherwise enabled for use with one or more global and/or
regional navigation satellite systems. By way of example but not limitation, an SBAS
may include an augmentation system(s) that provides integrity information, differential
corrections, etc., such as, e.g., Wide Area Augmentation System (WAAS), European Geostationary
Navigation Overlay Service (EGNOS), Multi-functional Satellite Augmentation System
(MSAS), GPS Aided Geo Augmented Navigation or GPS and Geo Augmented Navigation system
(GAGAN), and/or the like. Thus, as used herein an SPS may include any combination
of one or more global and/or regional navigation satellite systems and/or augmentation
systems, and SPS signals may include SPS, SPS-like, and/or other signals associated
with such one or more SPS.
[0010] As used herein, a mobile device, sometimes referred to as a mobile station (MS) or
user equipment (UE), such as a cellular phone, mobile phone or other wireless communication
device, personal communication system (PCS) device, personal navigation device (PND),
Personal Information Manager (PIM), Personal Digital Assistant (PDA), laptop or other
suitable mobile device which is capable of receiving wireless communication and/or
navigation signals. The term "mobile device" is also intended to include devices which
communicate with a personal navigation device (PND), such as by short-range wireless,
infrared, wireline connection, or other connection - regardless of whether satellite
signal reception, assistance data reception, and/or position-related processing occurs
at the device or at the PND. Also, "mobile device" is intended to include all devices,
including wireless communication devices, computers, laptops, etc. which are capable
of communication with a server, such as via the Internet, WiFi, or other network,
and regardless of whether satellite signal reception, assistance data reception, and/or
position-related processing occurs at the device, at a server, or at another device
associated with the network. Any operable combination of the above are also considered
a "mobile device."
[0011] FIG. 1 illustrates a divide between navigation systems of a mobile device 100 and
a vehicle navigation system 200. The navigation systems of the mobile device 100 and
the vehicle navigation system 200 are naturally separate systems. Existing navigation
solutions use GNSS and sensor information from within the navigation system.
[0012] The mobile device 100 has a navigation system that has several components duplicated
by the vehicle navigation system 200. The mobile device 100 includes one or more sensors
110, such as a 3-dimensional (3-D) accelerometer and/or a 3-D gyroscope (also referred
to as a 3-D gyrometer). The sensors 110 may also include a compass providing a direction
to magnetic north, a pressure sensor used to determine altitude, and the like. The
mobile device 100 also includes a GNSS unit 120 and a processor 130. The vehicle navigation
system 200 also includes one or more sensors 210, a GNSS unit 220 and a processor
230. The sensors 210 in the vehicle may include a 3-D accelerometer providing an accelerometer
value, a 3-D gyroscope providing a gyroscope value, a turn-rate sensor providing a
turn-rate value, an odometer providing an odometer value, a speedometer providing
a speed value, and the like.
[0013] Each navigation system computes a separate navigation solution without the benefit
of the duplicate and/or additional sensors of the corresponding system. That is, the
mobile device 100 does not use sensors 210 or GNSS unit 220 of the vehicle navigation
system 200. Similarly, the vehicle navigation system 200 does not use sensors 110
or GNSS unit 220 of the mobile device 100.
[0014] FIGS. 2 and 3 illustrate communicatively coupling a navigation system of a mobile
device 100 and a vehicle navigation system 200, in accordance with some embodiments
of the present invention. The mobile device 100 may receive vehicle information from
the sensors 210 and GNSS unit 220 of the vehicle navigation system 200. Similarly,
the vehicle navigation system 200 may receive mobile device information from the sensors
110 and GNSS unit 120 of the mobile device 100.
[0015] A navigation system using a Kalman filter may now have additional inputs from the
sensor signals of the other navigation system, thereby resulting in an improved navigation
solution. For example, a mobile device 100 may have a Kalman filter with inputs based
on signals from each of its own sensors. Now, the Kalman filter may have additional
inputs for signals base on sensors of the vehicle navigation system 200.
[0016] A navigation system of one device may be used to replace, combine, supplement, verify
and/or calibrate sensor measurements and/or GNSS from a second navigation system.
[0017] A navigation system may have a lower quality or lower resolution sensor but can replace
sensor with a higher quality or higher resolution sensor from the other navigation
system. For example, a mobile device 100 may have a GNSS receiver of its own but the
GNSS receiver of the vehicle receives a signal of higher quality (e.g., by an outdoor
antenna mounted on the vehicle). Similarly, a mobile device 100 may have an inexpensive
accelerometer offering a low resolution signal but the vehicle navigation system 200
may have a more expensive higher resolution signal. A heading detector on the vehicle
navigation system 200 may be provided to the mobile device 100. A vehicle navigation
system 200 may only have a 2-D gyroscope so uses signals from a 3-D gyroscope 112
on the mobile device 100.
[0018] A navigation system may be combined the same type of sensors and/or GNSS signals
from two different navigation systems. For example, vehicle navigation system 200
may be receiving signals from a first satellite and a mobile device 100 may be receiving
signals from a second satellite. Either navigation system may be insufficient alone
to compute an adequate navigation solution. Therefore, one system may provide GNSS
signals to the other system.
[0019] A navigation system may be missing a particular type of sensor may supplement its
sensors with sensors from another navigation system. For example, signals from a barometer
(used to determine altitude and change in altitude) in a mobile device 100 may be
provided to a vehicle navigation system 200. Signals from a turn-rate detector or
a speedometer in a vehicle navigation system 200 may be provided to a mobile device
100 not having direct access to such information. A vehicle navigation system 200
may not have a gyroscope but uses signals from a gyroscope 112 on the mobile device
100.
[0020] Sensor signals of one navigation system may be used to verify or calibrate sensor
signals of another navigation system. For example, a mobile device 100 may verify
that a sensor 110 providing measurements is within a tolerance threshold away from
a sensor 210 on the vehicle navigation system 200. A speedometer in a vehicle navigation
system 200 may be provided to a mobile device 100 to calibrate an accelerometer of
the mobile device 100.
[0021] In FIG. 2, the mobile device 100 and the vehicle navigation system 200 are communicatively
coupled to exchange vehicle information and/or mobile device information. The mobile
device 100 and the vehicle navigation system 200 may be wirelessly coupled, for example,
via a Bluetooth interface, or connected by wire, for example, via a mount. The mobile
device 100 may detect when the devices are no longer communicatively coupled and then
fall back to determining a navigation solution without sensors 210 and the GNSS unit
220 of the vehicle navigation system 200. The vehicle information is sent from the
vehicle navigation system 200 to the mobile device 100 and may include vehicle sensor
information from the vehicle sensors 210 and/or GNSS information from the GNSS unit
220. The mobile device information similarly may include mobile device sensor information
from sensors 110 and/or mobile device GNSS information from the GNSS unit 120, and
is sent from the mobile device 100 to the vehicle navigation system 200. Methods described
below may use sensor signals from either or both the mobile device 100 and the vehicle
navigation system 200. The method may be performed in the mobile device 100 or in
the vehicle navigation system 200.
[0022] In FIG. 3, an embodiment is shown where the mobile device 100 by passes processor
230 of the vehicle navigation system 200. In effect, the processor 130 now has additional
sensors 210 and additional GNSS unit 220 to replace, combine, supplement and/or verify
sensors 110 and the GNSS unit 120. The processor 130 of the mobile device 100 directly
communicates with the sensors 210 and the GNSS unit 220 of the vehicle navigation
system 200 to acquire vehicle GNSS information and vehicle sensor information, respectfully.
In this embodiment, the mobile device 100 acts as the master and the vehicle navigation
system 200 acts as the slave. Often, the GNSS signals from GNSS unit 120 are inadequate
and ignored. During the interim when GNSS signals are inadequate, navigation is provided
by a dead-reckoning algorithm with the sensor signals.
[0023] In an alternative embodiment, the vehicle navigation system 200 acts as the master
and the mobile device 100 acts as the slave. The processor 230 of the vehicle navigation
system 200 receives mobile device sensor information from the sensors 110 and mobile
device GNSS information from the GNSS unit 120 both in the mobile device.
[0024] FIG. 4 shows a vehicle navigation system, in accordance with some embodiments of
the present invention. The vehicle navigation system 200 includes sensors 210, a GNSS
unit 220, a processor 230 and an interface 240 to the mobile device 100. The sensors
210 include one or more of an accelerometer 211, a gyroscope 212, a turn-rate sensor
213, an odometer 214, a speedometer 215, a compass, and the like. The accelerometer
211 measures acceleration in one, two or three perpendicular dimensions. The gyroscope
212 measures angular acceleration in one, two or three perpendicular dimensions. The
turn-rate sensor 213 measures the turning rate of the steering wheel and/or the turning
rate of the vehicle. The odometer 214 measures the travel distance of the vehicle.
The speedometer 215 measures a current speed of the vehicle. The sensors 210 may also
include a compass or magnetometer, which measures an angle to magnetic north. Other
sensors useful for the navigation process may also be included in the vehicle navigation
system 200.
[0025] The GNSS unit 220 includes a GNSS receiver, such as a GPS receiver, and a GNSS antenna.
The processor 230 executes software modules necessary to compute a navigation solution.
The interface 240 to the mobile device 100 couples the processor 230 to the sensors
110 and/or the GNSS unit 120 of the mobile device 100. Alternatively, or in addition
to, the interface 240 couples the processor 230 of the vehicle navigation system 200
to the processor 130 of the mobile device 100.
[0026] FIG. 5 shows a mobile device with a navigation system, in accordance with some embodiments
of the present invention. The mobile device 100 includes sensors 110, a GNSS unit
120, a processor 130 and an interface 140 to vehicle navigation system 200. The sensors
110 include one or more of an accelerometer 111 and a gyroscope 112, described above
with reference to the vehicle navigation system 200. Other sensors useful for the
navigation process may also be included in the mobile device 100. The GNSS unit 120
includes a GNSS receiver, such as a GPS receiver, and a GNSS antenna.
[0027] Often the GNSS antenna of the vehicle navigation system 200 is positioned in a more
advantageous location than the GNSS antenna of the mobile device 100. The processor
130 executes software modules 150 necessary to compute a navigation solution. The
modules 150 may include a dead-reckoning module 151 executing a dead-reckoning algorithm,
a mount-state detection module 152, a sensor comparison module 153, a sensor integration
module 154, and the like. The dead-reckoning module 151 computes the position, velocity
and/or heading from the sensor information from sensors 110 and sensors 210. The mount-state
detection module 152 determines whether or not the mobile device 100 is in a mounted
state in the vehicle.
[0028] The sensor comparison module 153 receives sensor signal from sensors 110 in the mobile
device 100 and sensor signals from sensors 210 in the vehicle navigation system 200
and determines which is currently better. That is, a processor 130 determines a better
sensor signal and a worse sensor signal from between the sensor signal from the sensors
110 in the mobile device 100 and the sensor signal from the sensors 210 in the vehicle
navigation system 200. The processor 130 may use the better sensor signal and discards
the worse sensor signal in determining the navigation information. Alternatively,
the processor 130 may integrate the sensor signals from both sensors 110 and sensors
210 with sensor integration module 154, and then compute the navigation information.
The sensor integration module 154 integrates the sensor signals from sensors 110 in
the mobile device 100 and sensor signals from the vehicle navigation system 200 into
a continuous stream of sensor signals for the dead-reckoning module 151.
[0029] The interface 140 to the vehicle navigation system 200 couples the processor 130
to the sensors 210 and/or the GNSS unit 220 of the vehicle navigation system 200.
Alternatively, or in addition to, the interface 140 couples the processor 130 of the
mobile device 100 to the processor 230 of the vehicle navigation system 200. The processor
130 is also coupled to a display 160, for example, to display the computed navigation
information, including the computed position, velocity and heading.
[0030] The processor 230 may have modules similar to modules 150, thus allowing the vehicle
navigation system 200 to use sensors 110 and GNSS unit 120 in the mobile device 100
to compute a navigation solution.
[0031] The sensor signals from the sensors 210 of the vehicle navigation system 200 may
be used to calibrate the sensors 110 in the mobile device. Similarly, the sensor signals
from the sensors 110 in the mobile device may be used to calibrate the sensors 210
of the vehicle navigation system 200. For example, the vehicle sensor 210 may tell
the sensors 110 in the mobile device when the vehicle is at rest, traveling at a constant
speed (without linear or angular accelerations). The mobile device 100 may then calibrate
its accelerometer 111 and gyroscope 112.
[0032] FIGS. 6 and 7 show a method 300 and system to combine in-vehicle and in-device sensors
to compute an improved navigation solution.
[0033] In FIG. 6 at 310, a first navigation system 410 commutatively couples to a second
navigation system 420. The first navigation system 410 may be a vehicle navigation
system 200 and the second navigation system 420 may be a navigation system of a mobile
device 100. Alternatively, the first navigation system 410 may be a navigation system
of a mobile device 100 and the second navigation system 420 may be a vehicle navigation
system 200.
[0034] At 320, an interface 412 receives, at the first navigation system 410, a signal from
the second navigation system 420. The signal may be a sensor signal from a sensor
424 in the second navigation system 420. The sensor signal may be a turn-rate value
from a turn-rate sensor, a speedometer value from a speedometer, an accelerometer
value from an accelerometer, a gyroscope value from a gyroscope, a pressure value
from a barometric sensor, and/or the like.
[0035] The signal from the second navigation system 420 comprises a GNSS signal (e.g., a
GPS signal) from a GNSS receiver 426 in the second navigation system 420. A processor
418 in the first navigation system 410 determines that the GNSS signal from a GNSS
receiver 416 in the first navigation system 410 is inadequate or insufficient because
not enough satellites are received and/or the signal quality is not high enough to
properly decode a satellite and/or any to an excessive amount of multipath exists.
[0036] At 330, the processor 418 determines the navigation solution at the first navigation
system 410 based on the signal from the second navigation system 420. The navigation
solution may be a position, velocity, heading, and/or the like. The processor 418
may also receive a sensor signal from a sensor 414 in the first navigation system
410, select between the sensor signal from the first navigation system 410 and the
signal from the second navigation system 420 based on a desired characteristic resulting
in a signal with the desired characteristic, and determine the navigation solution
at the first navigation system 410 based on the signal with the desired characteristic.
The desired characteristic may be an SINR, an SNR, a number of satellite signals received,
a single-path satellite signal, lower uncertainty and/or the like. The desired characteristic
may be set or configured by a user. The processor 418 may select a better, stronger
or larger signal from between sensor signal and/or the GNSS signal from the first
navigation system 410 and the signal from the second navigation system 420. Instead
of selecting between the signals from the two navigation systems (410, 420), the processor
418 may use both signals from both navigation systems (410, 420) to compute the navigation
solution. For example, a gyroscope in a mobile device may be used with an accelerometer
in a vehicle for applying a dead-reckoning algorithm.
[0037] In some embodiments, a mount state detector determines a mobile device and a vehicle
or communicatively couple, for example, via a wired connection and/or in a mounted
state. Alternatively, a wireless detector may detect a wireless connection, for example,
using Bluetooth, between a mobile device and a vehicle. The mount state detector or
wireless detector may determine when the two devices are no longer communicatively
coupled or in an un-mounted state.
[0038] In some embodiments, signals from a first navigation system 410 are used to calibrate
sensors 424 in the second navigation system 420. For example, a signal from a speedometer
of a vehicle may be used to calibrate an accelerometer or a gyroscope of a mobile
device. Similarly, a sensor in the first navigation system 410 may be calibrated with
a signal from the second navigation system 420.
[0039] In FIG. 7, a first navigation system 410 is communicatively coupled to a second navigation
system 420. The systems may be communicatively coupled by a wired connection (e.g.,
via a mount) or wireless connection (e.g., via Bluetooth). The first navigation system
410 includes an interface 412 and a processor 418. The processor 418 acts as a means
for performing the methods described herein. Optionally, the first navigation system
410 includes a sensor 414 and/or a GNSS receiver 416. The second navigation system
420 includes an interface 422 and at least one of a sensor 424 and a GNSS receiver
426. The second navigation system 420 optionally includes a processor 428.
[0040] The methodologies described herein may be implemented by various means depending
upon the application. For example, these methodologies may be implemented in hardware,
firmware, software, or any combination thereof. For a hardware implementation, the
processing units may be implemented within one or more application specific integrated
circuits (ASICs), digital signal processors (DSPs), digital signal processing devices
(DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs),
processors, controllers, micro-controllers, microprocessors, electronic devices, other
electronic units designed to perform the functions described herein, or a combination
thereof.
[0041] For a firmware and/or software implementation, the methodologies may be implemented
with modules (e.g., procedures, functions, and so on) that perform the functions described
herein. Any machine-readable medium tangibly embodying instructions may be used in
implementing the methodologies described herein. For example, software codes may be
stored in a memory and executed by a processor unit. Memory may be implemented within
the processor unit or external to the processor unit. As used herein the term "memory"
refers to any type of long term, short term, volatile, nonvolatile, or other memory
and is not to be limited to any particular type of memory or number of memories, or
type of media upon which memory is stored.
[0042] If implemented in firmware and/or software, the functions may be stored as one or
more instructions or code on a computer-readable medium. Examples include computer-readable
media encoded with a data structure and computer-readable media encoded with a computer
program. Computer-readable media includes physical computer storage media. A storage
medium may be any available medium that can be accessed by a computer. By way of example,
and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM
or other optical disk storage, magnetic disk storage or other magnetic storage devices,
or any other medium that can be used to store desired program code in the form of
instructions or data structures and that can be accessed by a computer; disk and disc,
as used herein, includes compact disc (CD), laser disc, optical disc, digital versatile
disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically,
while discs reproduce data optically with lasers. Combinations of the above should
also be included within the scope of computer-readable media.
[0043] In addition to storage on computer readable medium, instructions and/or data may
be provided as signals on transmission media included in a communication apparatus.
For example, a communication apparatus may include a transceiver having signals indicative
of instructions and data. The instructions and data are configured to cause one or
more processors to implement the functions outlined in the claims. That is, the communication
apparatus includes transmission media with signals indicative of information to perform
disclosed functions. At a first time, the transmission media included in the communication
apparatus may include a first portion of the information to perform the disclosed
functions, while at a second time the transmission media included in the communication
apparatus may include a second portion of the information to perform the disclosed
functions.
[0044] The previous description of the disclosed aspects is provided to enable any person
skilled in the art to make or use the present disclosure. Various modifications to
these aspects will be readily apparent to those skilled in the art, and the generic
principles defined herein may be applied to other aspects without departing from the
scope of the invention as defined by the appended claims.
1. A method (300) to provide a navigation solution, the method comprising:
coupling communicatively (310) a first navigation system to a second navigation system;
receiving (320), at the first navigation system, a signal from the second navigation
system, wherein the signal comprises a global navigation satellite system, GNSS, signal;
and
determining (330) the navigation solution at the first navigation system using additional
information from the signal from the second navigation system when the GNSS signal
of the first navigation system is inadequate or insufficient because not enough satellites
are received and/or the signal quality is not high enough to properly decode a satellite
and/or any to an excessive amount of multipath exists.
2. The method (300) of claim 1, wherein the first navigation system comprises a vehicle
navigation system and the second navigation system comprises a navigation system of
a mobile device.
3. The method (300) of claim 1, wherein the first navigation system comprises a navigation
system of a mobile device and the second navigation system comprises a vehicle navigation
system.
4. The method (300) of claim 1, wherein the signal from the second navigation system
further comprises a sensor signal from a sensor of the second navigation system; and
optionally wherein the sensor signal comprises one of a turn-rate value, a speedometer
value, an accelerometer value and a gyroscope value.
5. The method (300) of claim 1, wherein determining the navigation solution comprises:
receiving a sensor signal from a sensor in the first navigation system;
selecting between the sensor signal from the first navigation system and the signal
from the second navigation system based on a characteristic of the signal; and
determining the navigation solution at the first navigation system based on the signal
with the desired characteristic;
wherein the signal from the second navigation system further comprises a sensor signal
from a sensor of the second navigation system; and
wherein the characteristic comprises at least one of an SINR, an SNR, a number of
satellite signals received, a single-path satellite signal, or lower uncertainty.
6. The method (300) of claim 1, further comprising determining that one of the first
navigation system and the second navigation system is in a mounted state.
7. The method (300) of claim 1, further comprising calibrating a sensor of the first
navigation system with the signal from the second navigation system.
8. The method of claim 1, further comprising sending a sensor signal from the first navigation
system to calibrate a sensor of the second navigation system.
9. A system comprising a first navigation system (410) for providing a navigation solution
and a second navigation system (420), the first navigation system (410) comprising:
means (412) for coupling communicatively the first navigation system (410) to the
second navigation system (420);
means for receiving, at the first navigation system (410), a signal from the second
navigation system (420), wherein the signal comprises a global navigation satellite
system, GNSS, signal; and
means (418) for determining the navigation solution at the first navigation system
(410) using additional information from the signal from the second navigation system
(420) when the GNSS signal of the first navigation system (410) is inadequate or insufficient
because not enough satellites are received and/or the signal quality is not high enough
to properly decode a satellite and/or any to an excessive amount of multipath exists.
10. The system of claim 9, wherein the first navigation system (410) comprises a vehicle
navigation system and the second navigation system (420) comprises a navigation system
of a mobile device.
11. The system of claim 9, wherein the first navigation system (410) comprises a navigation
system of a mobile device and the second navigation system (420) comprises a vehicle
navigation system.
12. The system of claim 9, wherein the signal from the second navigation system (420)
further comprises a sensor signal from the second navigation system (420).
13. The system of claim 9, wherein the first navigation system (410) further comprises
means for calibrating a sensor of the first navigation system with the signal from
the second navigation system.
14. The system of claim 9, wherein the first navigation system (410) further comprises
means for sending a sensor signal from the first navigation system to calibrate a
sensor of the second navigation system.
15. A non-transitory computer-readable storage medium including program code stored thereon
for a first navigation system (410) to provide a navigation solution, comprising program
code to carry out the steps of any of claim 1 to 8.
1. Ein Verfahren (300) zum Vorsehen einer Navigationslösung, wobei das Verfahren Folgendes
aufweist:
kommunikatives Koppeln (310) eines ersten Navigationssystems an ein zweites Navigationssystem;
Empfangen (320), an dem ersten Navigationssystem, eines Signals von dem zweiten Navigationssystem,
wobei das Signal ein Signal eines globalen Navigationssatellitensystems bzw. ein GNSS-Signal
(GNSS = global navigation satellite system) aufweist; und
Bestimmen (330) der Navigationslösung an dem ersten Navigationssystem unter Verwendung
von zusätzlicher Information aus dem Signal von dem zweiten Navigationssystem, wenn
das GNSS-Signal des ersten Navigationssystems nicht adäquat oder nicht ausreichend
ist, da nicht genügend Satelliten empfangen werden, und/oder die Signalqualität nicht
hoch genug ist, um einen Satelliten richtig zu decodieren und/oder irgendwelcher übermäßiger
Multipath bzw. Mehrwege vorliegen.
2. Verfahren (300) nach Anspruch 1, wobei das erste Navigationssystem ein Fahrzeugnavigationssystem
aufweist und das zweite Navigationssystem ein Navigationssystem einer Mobileinrichtung
aufweist.
3. Verfahren (300) nach Anspruch 1, wobei das erste Navigationssystem ein Navigationssystem
einer Mobileinrichtung aufweist und das zweite Navigationssystem ein Fahrzeugnavigationssystem
aufweist.
4. Verfahren (300) nach Anspruch 1, wobei das Signal von dem zweiten Navigationssystem
weiter ein Sensorsignal von einem Sensor des zweiten Navigationssystems aufweist;
und wobei optional das Sensorsignal einen Turn-Rate-Wert, einen Geschwindigkeitsmesserwert,
einen Beschleunigungsmesserwert und einen Gyroskopwert aufweist.
5. Verfahren (300) nach Anspruch 1, wobei das Bestimmen der Navigationslösung Folgendes
aufweist:
Empfangen eines Sensorsignals von einem Sensor in dem ersten Navigationssystem;
Auswählen zwischen dem Sensorsignal von dem ersten Navigationssystem und dem Sensorsignal
von dem zweiten Navigationssystem basierend auf einer Charakteristik des Signals;
und
Bestimmen der Navigationslösung an dem ersten Navigationssystem basierend auf dem
Signal mit der erwünschten Charakteristik;
wobei das Signal von dem zweiten Navigationssystem weiter ein Sensorsignal von einem
Sensor des zweiten Navigationssystems aufweist; und
wobei die Charakteristik wenigstens eines von einem SINR, einem SNR, einer Anzahl
von empfangenen Satellitensignalen, einem Single-Path- bzw. Einzelwegsatellitensignal
oder einer niedrigeren Ungewissheit aufweist.
6. Verfahren (300) nach Anspruch 1, das weiter Bestimmen aufweist, dass eines von dem
ersten Navigationssystem und dem zweiten Navigationssystem in einem installierten
bzw. eingebauten Zustand ist.
7. Verfahren (300) nach Anspruch 1, das weiter Kalibrieren eines Sensors des ersten Navigationssystems
mit dem Signal von dem zweiten Navigationssystem aufweist.
8. Verfahren nach Anspruch 1, das weiter Senden eines Sensorsignals von dem ersten Navigationssystem
zum Kalibrieren eines Sensors des zweiten Navigationssystems aufweist.
9. Ein System, das ein erstes Navigationssystem (410) zum Vorsehen einer Navigationslösung
und ein zweites Navigationssystem (420) aufweist, wobei das erste Navigationssystem
(410) Folgendes aufweist:
Mittel (412) zum kommunikativen Koppeln des ersten Navigationssystems (410) einen
das zweites Navigationssystem (420);
Mittel zum Empfangen, an dem ersten Navigationssystem (410), eines Signals von dem
zweiten Navigationssystem (420), wobei das Signal ein Signal eines globalen Navigationssatellitensystems
bzw. ein GNSS-Signal aufweist; und
Mittel (418) zum Bestimmen der Navigationslösung an dem ersten Navigationssystem (410)
unter Verwendung von zusätzlicher Information aus dem Signal von dem zweiten Navigationssystem
(420), wenn das GNSS-Signal des ersten Navigationssystems (410) nicht adäquat oder
nicht ausreichend ist, da nicht genügend Satelliten empfangen werden, und/oder die
Signalqualität nicht hoch genug ist, um einen Satelliten richtig zu Decodieren und/oder
irgendwelcher übermäßiger Multipath bzw. Mehrwege vorliegen.
10. System nach Anspruch 9, wobei das erste Navigationssystem (410) ein Fahrzeugnavigationssystem
aufweist und das zweite Navigationssystem (420) ein Navigationssystem einer Mobileinrichtung
aufweist.
11. System nach Anspruch 9, wobei das erste Navigationssystem (410) ein Navigationssystem
einer Mobileinrichtung aufweist und das zweite Navigationssystem (420) ein Fahrzeugnavigationssystem
aufweist.
12. System nach Anspruch 9, wobei das Signal von dem zweiten Navigationssystem (420) weiter
ein Sensorsignal von dem zweiten Navigationssystem (420) aufweist.
13. System nach Anspruch 9, wobei das erste Navigationssystem (410) weiter Mittel aufweist
zum Kalibrieren eines Sensors des ersten Navigationssystems mit dem Signal von dem
zweiten Navigationssystem.
14. System nach Anspruch 9, wobei das erste Navigationssystem (410) weiter Mittel aufweist
zum Senden eines Sensorsignal von dem ersten Navigationssystem zum Kalibrieren eines
Sensors des zweiten Navigationssystems.
15. Ein nicht transitorisches computerlesbares Speichermedium, das darauf gespeicherten
Programmcode für ein erstes Navigationssystem (410) zum Vorsehen einer Navigationslösung
aufweist, das Programmcode aufweist zum Durchführen der Schritte nach einem der Ansprüche
1 bis 8.
1. Procédé (300) de fourniture d'une solution de navigation, le procédé comprenant les
étapes suivantes :
le couplage en communication (310) d'un premier système de navigation à un deuxième
système de navigation ;
la réception (320), au niveau du premier système de navigation, d'un signal provenant
du deuxième système de navigation, dans lequel le signal comprend un signal de système
de navigation global par satellite, GNSS ; et
la détermination (330) de la solution de navigation au niveau du premier système de
navigation en utilisant des informations supplémentaires à partir du signal provenant
du deuxième système de navigation quand le signal de GNSS du premier système de navigation
est inapproprié ou insuffisant car pas assez de satellites sont reçus et/ou la qualité
de signal n'est pas assez élevée pour décoder convenablement un satellite et/ou un
nombre quelconque excessif de trajets multiples existe.
2. Procédé (300) selon la revendication 1, dans lequel le premier système de navigation
comprend un système de navigation d'un véhicule et le deuxième système de navigation
comprend un système de navigation d'un dispositif mobile.
3. Procédé (300) selon la revendication 1, dans lequel le premier système de navigation
comprend un système de navigation d'un dispositif mobile et le deuxième système de
navigation comprend un système de navigation d'un véhicule.
4. Procédé (300) selon la revendication 1, dans lequel le signal provenant du deuxième
système de navigation comprend en outre un signal de capteur provenant d'un capteur
du deuxième système de navigation ; et dans lequel optionnellement le signal de capteur
comprend un élément parmi une valeur de taux de rotation, une valeur de capteur de
vitesse, une valeur d'un accéléromètre et une valeur de gyroscope.
5. Procédé (300) selon la revendication 1, dans lequel la détermination de la solution
de navigation comprend les étapes suivantes :
la réception d'un signal de capteur provenant d'un capteur dans le premier système
de navigation ;
la sélection entre le signal de capteur provenant du premier système de navigation
et le signal provenant du deuxième système de navigation sur la base d'une caractéristique
du signal ; et
la détermination de la solution de navigation au niveau du premier système de navigation
sur la base du signal ayant la caractéristique désirée ;
dans lequel le signal provenant du deuxième système de navigation comprend en outre
un signal de capteur provenant d'un capteur du deuxième système de navigation ; et
dans lequel la caractéristique comprend au moins un élément parmi un SINR, un SNR,
un certain nombre de signaux satellites reçus, un signal satellite à trajet unique,
ou une incertitude plus faible.
6. Procédé (300) selon la revendication 1, comprenant en outre la détermination qu'un
système parmi le premier système de navigation et le deuxième système de navigation
est dans un état monté.
7. Procédé (300) selon la revendication 1, comprenant en outre l'étalonnage d'un capteur
du premier système de navigation avec le signal provenant du deuxième système de navigation.
8. Procédé selon la revendication 1, comprenant en outre l'envoi d'un signal de capteur
provenant du premier système de navigation pour étalonner un capteur du deuxième système
de navigation.
9. Système comprenant un premier système de navigation (410) destiné à fournir une solution
de navigation et un deuxième système de navigation (420), le premier système de navigation
(410) comprenant :
des moyens (412) pour coupler en communication le premier système de navigation (410)
au deuxième système de navigation (420) ;
des moyens pour recevoir, au niveau du premier système de navigation (410), un signal
provenant du deuxième système de navigation (420), dans lequel le signal comprend
un signal de système de navigation global par satellite, GNSS ; et
des moyens (418) pour déterminer la solution de navigation au niveau du premier système
de navigation (410) en utilisant des informations supplémentaires à partir du signal
provenant du deuxième système de navigation (420) quand le signal de GNSS du premier
système de navigation (410) est inapproprié ou insuffisant car pas assez de satellites
sont reçus et/ou la qualité de signal n'est pas assez élevée pour décoder convenablement
un satellite et/ou nombre quelconque excessif de trajets multiples existe.
10. Système selon la revendication 9, dans lequel le premier système de navigation (410)
comprend un système de navigation d'un véhicule et le deuxième système de navigation
(420) comprend un système de navigation d'un dispositif mobile.
11. Système selon la revendication 9, dans lequel le premier système de navigation (410)
comprend un système de navigation d'un dispositif mobile et le deuxième système de
navigation (420) comprend un système de navigation d'un véhicule.
12. Système selon la revendication 9, dans lequel le signal provenant du deuxième système
de navigation (420) comprend en outre un signal de capteur provenant du deuxième système
de navigation (420).
13. Système selon la revendication 9, dans lequel le premier système de navigation (410)
comprend en outre des moyens pour étalonner un capteur du premier système de navigation
avec le signal provenant du deuxième système de navigation.
14. Système selon la revendication 9, dans lequel le premier système de navigation (410)
comprend en outre des moyens pour envoyer un signal de capteur provenant du premier
système de navigation pour étalonner un capteur du deuxième système de navigation.
15. Support de stockage lisible par ordinateur non transitoire comportant un code de programme
stocké en lui destiné à un premier système de navigation (410) pour fournir une solution
de navigation, comprenant un code de programme pour mettre en oeuvre les étapes selon
l'une quelconque des revendications 1 à 8.